Towards Mapping of Rock Walls Using a UAV-Mounted 2D Laser Scanner in GPS Denied Environments

In geotechnical engineering, the stability of rock excavations and walls is estimated by using tools that include a map of the orientations of exposed rock faces. However, measuring these orientations by using conventional methods can be time consuming, sometimes dangerous, and is limited to regions of the exposed rock that are reachable by a human. This thesis introduces a 2D, simulated, quadcopter-based rock wall mapping algorithm for GPS denied environments such as underground mines or near high walls on surface. The proposed algorithm employs techniques from the field of robotics known as simultaneous localization and mapping (SLAM) and is a step towards 3D rock wall mapping. Not only are quadcopters agile, but they can hover. This is very useful for confined spaces such as underground or near rock walls. The quadcopter requires sensors to enable self localization and mapping in dark, confined and GPS denied environments. However, these sensors are limited by the quadcopter payload and power restrictions. Because of these restrictions, a light weight 2D laser scanner is proposed. As a first step towards a 3D mapping algorithm, this thesis proposes a simplified scenario in which a simulated 1D laser range finder and 2D IMU are mounted on a quadcopter that is moving on a plane. Because the 1D laser does not provide enough information to map the 2D world from a single measurement, many measurements are combined over the trajectory of the quadcopter. Least Squares Optimization (LSO) is used to optimize the estimated trajectory and rock face for all data collected over the length of a light. Simulation results show that the mapping algorithm developed is a good first step. It shows that by combining measurements over a trajectory, the scanned rock face can be estimated using a lower-dimensional range sensor. A swathing manoeuvre is introduced as a way to promote loop closures within a short time period, thus reducing accumulated error. Some suggestions on how to improve the algorithm are also provided.

Fast 2D/3D object representation with growing neural gas

This work presents the design of a real-time system to model visual objects with the use of self-organising networks. The architecture of the system addresses multiple computer vision tasks such as image segmentation, optimal parameter estimation and object representation. We first develop a framework for building non-rigid shapes using the growth mechanism of the self-organising maps, and then we define an optimal number of nodes without overfitting or underfitting the network based on the knowledge obtained from information-theoretic considerations. We present experimental results for hands and faces, and we quantitatively evaluate the matching capabilities of the proposed method with the topographic product. The proposed method is easily extensible to 3D objects, as it offers similar features for efficient mesh reconstruction.

The Electoral Rise of Populist Radical Right Parties in Europe: Ideological Parameters and Social Motivations

Populist radical right parties have become major political actors in Europe. This paper analyses the path and the different phases that have led them from the fringes of public debate to their present signifi cance, which is based on their capacity to attract electoral support and infl uence the political agendas in their respective countries. Besides, an analysis of the core ideological beliefs of these parties, and of the topics on which their mobilization capacity rests, is provided, as well as of the type of voters that are attracted by them. Finally, the authors discuss the meaning and impact of the growing popularity of the ideas and proposals put forward by the populist radical right parties.

Speeches and paradoxes of cultural mediation: A practice between the elite and the cultural poverty

This text analyzes the speeches of a group of cultural mediators working in Madrid in public and private institutions of arts. The group was organized as part of the activities of the European Project Divercity: Diving into Diversity in Museums and the City of the Complutense University in March 2015. The aim of the interview was to unravel what they mean by diversity in the profession, and analyze the contradictions and objectives professions that arise in this new field of work.

Being impolite while pretending to be polite. The rupture of politeness conventions in electoral debates

This paper is a part of a larger research that pursues a global understanding of impoliteness in face-to-face electoral debates. That research distinguishes three essential axes, three complementary analytical perspectives: functional strategies of impoliteness, linguistic-discursive mechanisms to implement them and social impacts of impolite acts. In this frame, the present work develops an in-depth analysis of a special category of mechanisms, namely the rupture of politeness conventions, a subgroup within postliteral implicit mechanisms. This subgroup acquires its identity by the fact of carrying out a linguistic action that is conventionally associated with a polite attitude, but doing it in a rhetorically insincere way: the consequence is that apparent politeness becomes impoliteness. Relevant aspects in the characterization of ruptures are isolated and, on this basis, it is developed a detailed analysis of three specific kinds of mechanisms in which ruptures take shape: using ironic statements, developing different forms of overpoliteness and adopting a falsely collaborative attitude toward the interlocutor. The analysis of that group of mechanisms takes into account, simultaneously, the other two axes of the main research, strategies and social impacts.

Modelo de predicción electoral: el caso de la elección municipal 2015 de León de los Aldama, Guanajuato

El artículo analiza los cambios político electorales en León, Guanajuato, a partir de cómo se fue configurando el desplazamiento del Partido Revolucionario Institucional (PRI) por el Partido Acción Nacional (PAN) en este ayuntamiento en el año 1988, hasta el cambio de correlación de fuerzas en el año 2012. Ello da pauta para analizar los escenarios que podrían caracterizar las próximas elecciones de este año. Con este objetivo se propone un modelo estadístico para dicho estudio: el modelo de regresión Dirichlet, el cual permite considerar la naturaleza de los datos electorales.
The article analyzes the electoral changes in León, Guanajuato, based on how it was setting the displacement of the Institutional Revolutionary Party (PRI) by the National Action Party (PAN) in this council in 1988, until the change of correlation forces in 2012, which gives guidelines to analyze the scenarios that could characterize the upcoming elections this year. With this aim the authors proposed a statistical model for the study: the Dirichlet regression model, which allows to consider the nature of electoral data.

Time-resolved dosimetric verification of respiratory-gated radiotherapy exposures using a high-resolution 2D ionisation chamber array

The aim of this work was to track and verify the delivery of respiratory-gated irradiations, performed with three versions of TrueBeam linac, using a novel phantom arrangement that combined the OCTAVIUS® SRS 1000 array with a moving platform. The platform was programmed to generate sinusoidal motion of the array. This motion was tracked using the real-time position management (RPM) system and four amplitude gating options were employed to interrupt MV beam delivery when the platform was not located within set limits. Time-resolved spatial information extracted from analysis of x-ray fluences measured by the array was compared to the programmed motion of the platform and to the trace recorded by the RPM system during the delivery of the x-ray field. Temporal data recorded by the phantom and the RPM system were validated against trajectory log files, recorded by the linac during the irradiation, as well as oscilloscope waveforms recorded from the linac target signal. Gamma analysis was employed to compare time-integrated 2D x-ray dose fluences with theoretical fluences derived from the probability density function for each of the gating settings applied, where gamma criteria of 2%/2 mm, 1%/1 mm and 0.5%/0.5 mm were used to evaluate the limitations of the RPM system. Excellent agreement was observed in the analysis of spatial information extracted from the SRS 1000 array measurements. Comparisons of the average platform position with the expected position indicated absolute deviations of  <0.5 mm for all four gating settings. Differences were observed when comparing time-resolved beam-on data stored in the RPM files and trajectory logs to the true target signal waveforms. Trajectory log files underestimated the cycle time between consecutive beam-on windows by 10.0  ±  0.8 ms. All measured fluences achieved 100% pass-rates using gamma criteria of 2%/2 mm and 50% of the fluences achieved pass-rates  >90% when criteria of 0.5%/0.5 mm were used. Results using this novel phantom arrangement indicate that the RPM system is capable of accurately gating x-ray exposure during the delivery of a fixed-field treatment beam.

The dynamics of neutrino-driven supernova explosions after shock revival in 2D and 3D

We study the growth of the explosion energy after shock revival in neutrino-driven explosions in two and three dimensions (2D/3D) using multi-group neutrino hydrodynamics simulations of an 11.2 M⊙ star. The 3D model shows a faster and steadier growth of the explosion energy and already shows signs of subsiding accretion after one second. By contrast, the growth of the explosion energy in 2D is unsteady, and accretion lasts for several seconds as confirmed by additional long-time simulations of stars of similar masses. Appreciable explosion energies can still be reached, albeit at the expense of rather high neutron star masses. In 2D, the binding energy at the gain radius is larger because the strong excitation of downward-propagating g modes removes energy from the freshly accreted material in the downflows. Consequently, the mass outflow rate is considerably lower in 2D than in 3D. This is only partially compensated by additional heating by outward-propagating acoustic waves in 2D. Moreover, the mass outflow rate in 2D is reduced because much of the neutrino energy deposition occurs in downflows or bubbles confined by secondary shocks without driving outflows. Episodic constriction of outflows and vertical mixing of colder shocked material and hot, neutrino-heated ejecta due to Rayleigh–Taylor instability further hamper the growth of the explosion energy in 2D. Further simulations will be necessary to determine whether these effects are generic over a wider range of supernova progenitors.

Few-layer, large-area, 2D covalent organic framework semiconductor thin films.

In this work, we synthesize large-area thin films of a conjugated, imine-based, two-dimensional covalent organic framework at the solution/air interface. Thicknesses between ∼2-200 nm are achieved. Films can be transferred to any desired substrate by lifting from underneath, enabling their use as the semiconducting active layer in field-effect transistors.

Creazione di una costmap 2D per la navigazione di un rover terrestre

L’obiettivo di questa tesi è riuscire ad elaborare una point cloud 3D proveniente dal laser scanner per individuare possibili ostacoli e creare con essa, successivamente, una mappa che permetta la navigazione di un rover.

Análisis, diseño y desarrollo de un videojuego en 2D vista lateral

[ES]En este proyecto se ha desarrollado un prototipo de un videojuego en 2D con perspectiva lateral. El juego es fundamentalmente un juego de peleas en el que se usa una pelota para combatir. El objetivo es derrotar al rival, consiguiendo que la pelota le golpee y evitando recibir golpes mediante el uso de los controles apropiados. Está ambientado en un mundo futurista y los combates tienen lugar en naves espaciales o planetas alienígenas. Para el desarrollo de este juego se ha empleado el motor de videojuegos Unity 5, además de recursos creados por la propia autora u obtenidos de diversas fuentes de contenido open-source.

A domain decomposition based algorithm for non-linear 2D inverse heat conduction problems

Inverse heat conduction problems (IHCPs) appear in many important scientific and technological fields. Hence analysis, design, implementation and testing of inverse algorithms are also of great scientific and technological interest. The numerical simulation of 2-D and –D inverse (or even direct) problems involves a considerable amount of computation. Therefore, the investigation and exploitation of parallel properties of such algorithms are equally becoming very important. Domain decomposition (DD) methods are widely used to solve large scale engineering problems and to exploit their inherent ability for the solution of such problems.

Building peace by supporting post-conflict electoral processes

Les élections post-conflit ou élections de sortie de crise organisées sous l’égide de la communauté internationale en vue de rétablir la paix dans les pays sortant de violents conflits armés ont un bilan mixte caractérisé par le succès ou l’échec selon les cas. Ce bilan mitigé représente le problème principal auquel cette recherche tente de répondre à travers les questions suivantes : l’assistance électorale étrangère est-elle efficace comme outil de rétablissement de la paix dans les sociétés post-conflit? Qu’est ce qui détermine le succès ou l’échec des élections post-conflit à contribuer efficacement au rétablissement de la paix dans les sociétés déchirées par la guerre? Pour résoudre cette problématique, cette thèse développe une théorie de l’assistance électorale en période post-conflit centrée sur les parties prenantes à la fois du conflit armé et du processus électoral. Cette théorie affirme que l’élément clé pour le succès des élections post-conflit dans le rétablissement de la paix est le renforcement de la capacité de négociation des parties prenantes à la fois dans le processus de paix et dans le processus électoral post-conflit. Dans les situations post-conflit, une assistance électorale qui se voudrait complète et efficace devra combiner à la fois le processus électoral et le processus de paix. L’assistance électorale sera inefficace si elle se concentre uniquement sur les aspects techniques du processus électoral visant à garantir des élections libres, transparentes et équitables. Pour être efficace, l’accent devra également être mis sur les facteurs supplémentaires qui peuvent empêcher la récurrence de la guerre, tels que l’habilité des individus et des groupes à négocier et à faire des compromis sur les grandes questions qui peuvent menacer le processus de paix. De fait, même des élections transparentes comme celles de 1997 au Liberia saluées par la communauté internationale n’avaient pas réussi à établir des conditions suffisantes pour éviter la reprise des hostilités. C’est pourquoi, pour être efficace, l’assistance électorale dans les situations de post-conflit doit prendre une approche globale qui priorise l’éducation civique, la sensibilisation sur les droits et responsabilités des citoyens dans une société démocratique, le débat public sur les questions qui divisent, la participation politique, la formation au dialogue politique, et toute autre activité qui pourrait aider les différentes parties à renforcer leur capacité de négociation et de compromis. Une telle assistance électorale fera une contribution à la consolidation de la paix, même dans le contexte des élections imparfaites, comme celles qui se sont détenues en Sierra Leone en 2002 ou au Libéria en 2005. Bien que la littérature sur l’assistance électorale n’ignore guère l’importance des parties prenantes aux processus électoraux post-conflit (K. Kumar, 1998, 2005), elle a fortement mis l’accent sur les mécanismes institutionnels. En effet, la recherche académique et professionnelle est abondante sur la réforme des lois électorales, la reforme constitutionnelle, et le développement des administrations électorales tels que les commissions électorales, ainsi que l’observation électorale et autres mécanismes de prévention de la fraude électorale, etc. (Carothers & Gloppen, 2007). En d’autres termes, les décideurs et les chercheurs ont attribué jusqu’à présent plus d’importance à la conception et au fonctionnement du cadre institutionnel et des procédures électorales. Cette thèse affirme qu’il est désormais temps de prendre en compte les participants eux-mêmes au processus électoral à travers des types d’assistance électorale qui favoriseraient leur capacité à participer à un débat pacifique et à trouver des compromis aux questions litigieuses. Cette approche plus globale de l’assistance électorale qui replace l’élection post-conflit dans le contexte plus englobant du processus de paix a l’avantage de transformer le processus électoral non pas seulement en une expérience d’élection de dirigeants légitimes, mais aussi, et surtout, en un processus au cours duquel les participants apprennent à régler leurs points de vue contradictoires à travers le débat politique dans un cadre institutionnel avec des moyens légaux et légitimes. Car, si le cadre institutionnel électoral est important, il reste que le résultat du processus électoral dépendra essentiellement de la volonté des participants à se conformer au cadre institutionnel et aux règles électorales.

Manual de garantía del derecho del voto y de accesibilidad del proceso electoral para personas con discapacidad. Elecciones generales 2015. Tu voto y tu participación suman. Que no te resten

La participación política es un derecho de ciudadanía reconocido a todas las personas. Sin embargo, las personas con discapacidad encuentran dificultades para esta participación. Este Manual quiere ser una herramienta de empoderamiento, de forma que las personas con discapacidad conozcan con toda amplitud este derecho y, en su caso, puedan plantear peticiones o reclamaciones.